Tactile Feedback for Joystick Position/Speed Controls

ABSTRACT

A joystick controller is disclosed for controlling speed of a boom lift platform, the controller having motors or the like that provide tactile feedback that is intuitively interpreted and adjusted by the user of the joystick speed control, the joystick being neutrally-biased to effect a null velocity when the joystick is positioned in a neutral position, but the tactile feedback forcing the joystick away from neutral to a degree that represents the platform&#39;s actual speed.

CLAIM OF PRIORITY TO PRIOR APPLICATION

This application claims the benefit of the filing date of U.S.Non-Provisional application Ser. No. 12/773,170, filed on May 4, 2010,entitled “Tactile Feedback for Joystick Position/Speed Controls”, theentirety of which is hereby incorporated by reference into the presentdisclosure.

BACKGROUND OF THE INVENTION

1. Technical Field

Many aspects of this invention relate in general to proportionaljoystick speed controls for powered movers and, more particularly, tocomprehensive systems and methods for providing an operator withfeedback related to the actual speed of the object(s) being moved or theplatform, bucket or the like that supports it. Some aspects of theinvention also relate to the machines, systems, applications,components, and methods associated with such proportional speedcontrols.

2. Background Art

Powered movers can be found in a huge variety of applications, fromforklifts, backhoes, excavators and off-highway construction equipmentand the like to cherry-pickers and other boom lift movers, carriers orplatforms. Many powered movers use proportional speed controls in theform of a joystick or an equivalent type of lever or knob that controlsthe actuators to do the powered moving. Actuators are often hydraulicbut may also come in other forms such as electric, pneumatic,electro-magnetic, or some combination thereof. Even though the presentinvention is beneficial for many lever-based or knob-based variablespeed controllers for virtually any powered lifters, boom lift platformsprovide a representative context that will be referenced for the bulk ofthe descriptions in this application. Those of skill in the art willunderstand how the advantages and features in the boom lift platformcontext can be translated to other contexts within the scope of theinventions

It takes an incredibly experienced boom lift operator to quickly yetprecisely control the movement of an elevated platform to within an inchor so of the desired position without overshooting and correcting.Overshooting the intended position can be hazardous, particularly whenthat position is close to a structure that can be damaged if impacted bythe boom-lift platform. Due in part to the nature of hydraulic actuatorsthat are typically used for boom-lift platforms, there is a constanttension between responsive controls and smooth operation. Withoutsophisticated controls that are common today, platform movements can bevery jerky.

On the other hand, because of the great effort to smooth out themovements of aerial platforms, it is very difficult to predict how muchfurther a platform will travel before stopping once the joystickcontroller is released to the neutral position. The slow, gradualapproach with fine movement control can be extremely time-consuming. Inthe interest of time, skilled operators therefore try to speed theplatform toward the desired position and let go of the joystick a footor two before the platform reaches the desired location, hoping theyhave predicted well enough to avoid a collision.

Joystick speed controls have long been one of the most popular types ofmanual devices for controlling speed. Numerous techniques are known forenhancing the basic joystick controller, as are evidenced by thefollowing patents within the background art: U.S. Pat. Nos. 5,019,761;5,513,100; 5,721,566; 5,727,387; 5,899,008; 6,859,198; and 7,019,238.Boom lift platforms and comparable position and/or speed controls arecommercialized by JLG, Genie, Caterpillar, Case Corporation, John Deere,Bobcat, and Hitachi.

A sizable, unmet need has been revealed in relation to optimizing suchmovements, particularly in the interest of getting a boom lift platformto a desired position quickly yet safely. Related needs include the goalto minimize unnecessary cost and complexity, to enhance ease of use, andto shorten the training curve for safe boom lift operators. It is anobject of the present invention to address these and other needspresented by the prior art. Other objects include enabling such primaryobjects while also allowing a highly skilled operator to overrideselectable features of preferred embodiments.

Known feedback technology helps, but more has long been needed.Overriding objects of the present inventions also include providingspeed control systems, components and methods that facilitate andadjust, based on an accurate yet responsive position control system.

SUMMARY OF THE INVENTION

The present invention is just the answer for many of the unmet needsthat have plagued the prior art—aspects of the invention allowingprecise yet smooth speed control with tactile feedback that isintuitively interpreted and adjusted by the user of the joystick speedcontrol. Applicant is thought to have developed a reliable way tocontrol the operation of neutrally-biased joystick controllers of thetype that effect a null velocity when the joystick is positioned in aneutral position, a first velocity when the joystick is moved to a firstextent from said neutral position, and a greater velocity when thejoystick is moved to a greater extent in the same direction. Basicaspects of the invention adapt such joystick controllers by providingtactile feedback in the form of a feedback system that temporarilyoverrides the neutral bias of the joystick and instead biases thejoystick to the position(s) that correspond to the actual speed of thesubject whose speed is being controlled by the joystick.

Other aspects of the invention combine such tactile feedback with activeinfluence on the speed of the subject whenever the joystick is forced toa position outside of its actual-speed-biased position. While there aremany alternative variations, modifications and substitutions within thescope of the invention, one of ordinary skill in the art should considerthe scope of the invention from a review of the claims appended hereto(including any amendments made to those claims in the course ofprosecuting this and related applications) as considered in the contextof the prior art and the various descriptions of this application.

Many other objects, features and advantages of the present inventionwill be evident from the remainder of this application in light of amore exhaustive understanding of the numerous difficulties andchallenges faced by the prior art, which in turn will be evident tothose skilled in the art.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

For a more complete understanding of the present invention and itspreferred embodiments, and the advantages thereof, reference is now madeto the following descriptions taken in conjunction with the accompanyingdrawings, in which:

FIG. 1 is top-down view of a joystick control 10 that is illustrative ofa joystick that can be used to achieve the present invention, viewed atan angle perpendicular to the plane of the associated control panel.

FIG. 2 is an elevation view of the joystick control 10 of FIG. 1, viewedon plane 2-2 indicated in FIG. 1.

FIGS. 3-6 are graphic illustrations of the manner in which the prior artjoystick controllers and the joystick controller of the presentinvention operate during use.

FIG. 3 represents the basic functionality associated with a joystickcontroller in the prior art.

FIG. 4 represents the functionality of a joystick controller 10 of thepresent invention implementing a first aspect of tactile feedback of thejoystick system and method of the present invention.

FIG. 5 illustrates a manner in which joystick position is manipulated byhand from a full forward, to a hold forward position, and finally to aforced neutral position characteristic of certain aspects of the presentinvention.

FIG. 6 illustrates utilization of a user controlled switch that allowsfor an instantaneous change from the first functionality described abovewith FIG. 4 to the second functionality described with FIG. 5.

FIG. 7 illustrates basic components of a control system of the presentinvention for carrying out the methodology described with reference toFIGS. 4-6.

FIG. 8 shows a side view of a typical telescoping boom lift vehicle ofthe type that is utilized in many different construction projects aswell as maintenance and utility work, with the joystick controller 10 ofthe present invention incorporated therein.

FIG. 9 illustrates a side elevation view of the joystick controlcontroller components for controlling the position of the joystick inresponse to actual speed.

FIG. 10 discloses an overhead view of one of the alternative structuresfor a joystick controller 10 according to various teachings of thisinvention.

FIG. 11 illustrates two different joysticks according to the teachingsof FIGS. 4-10 incorporated into a typical instrument control panel for aboom lift vehicle of the type shown in FIG. 8.

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS The Larger Contexts.

While the inventions that are the subject of this application are muchmore basic than any particular embodiment, one can gather a partialappreciation for some of the possible benefits of the broader inventionsand possible interplay between various elements of the inventions in thecourse of considering presently preferred embodiments. A few embodimentsthat are presently thought to include the most preferred are depicted inrelation to FIGS. 1-11 of the drawings, where similar reference numeralsare used for similar elements of various embodiments. The systems andmethods depicted therein allow for efficient and effective speed controlthat provides intuitive tactile feedback to the operator, together withrelated measures for controlling the motion of an intended subject.

The present invention finds application in any of a number of controlsystem environments where a level of responsive feedback is desired withthe user manipulation of joystick type controls.

Basic Aspects of the Invention.

The following example of an application of the present invention to atelescoping boom lift vehicle is simply one of a number of differentapplication environments within which the invention finds utility.Utility can be found according to broad aspects of the present inventionin virtually any system where the movement of a stick, lever or knobcontrol mimics the direction and speed motion of a remotely operatedsubject.

A basic aspect of the present invention is to adapt joystick controllersystems and methods to provide the user with tactile feedback on thedirection and speed of motion of a joystick controlled subject,particularly in relation to decreases in the speed of such motion.Variations on such basic aspects are described in the following detaileddescription and are intended to be viewed in conjunction with theappended drawing figures.

Standard Joystick Controllers.

Reference is made first to FIG. 1 for a brief description of thenomenclature typically associated with the structure and function of astandard joystick based hydraulic motion control system. FIG. 1 is apartially schematic diagram showing the basic orientation of a joystickcontroller device 10 with the joystick handle 12 centrally positioned onthe joystick controller area of an instrument control panel. (See FIG.11 and the description thereof as an example of a more completeinstrument control panel.) Joystick boot or dust cover 14 surroundsjoystick handle 12 and allows linkage to and protection for thefunctional components of the joystick controller. A typical joystick ofthe type that might be used in conjunction with a dual motion system(such as the telescoping boom lift vehicle that is provided as anexample in the present application) involves the multi-directionalmovement for the joystick handle 12 shown in FIG. 1. The multipledirections (essentially movable in any radial direction 360° about thecenter point of the joystick handle 12) may be isolated and divided intofour orthagonal directions carrying out four basic motions for thehydraulically driven subject.

In FIG. 1, and in the example utilized generally in the presentapplication, movement of the joystick handle 12 upward may carry out a“boom up” actuator motion 16 as shown, or alternately, a “drive forward”motion. Movement of the joystick in the opposite direction carries out a“boom down” actuator motion 18 as shown, or alternately, a “drive inreverse” motion. Left and right motions of the joystick handle 12 carryout a boom left actuator motion 20 or a boom right actuator motion 22,or alternately a left and right steering motion. As described in moredetail below, the boom up motion 16 and boom down motion 18 in thepresent example essentially operate to extend or retract the length ofthe boom on which the elevated platform is positioned. The boom leftmotion 20 and the boom right motion 22 on the other hand, carry out asideways motion that swings the boom (and the elevated platform) to theleft or right as directed. It is this combination of motions that ismost useful to an operator, either positioned on the ground operatingthe telescoping boom lift or on the platform itself moving the platformto a position appropriate for work to be carried out.

FIG. 2 is a side elevation view of the basic joystick controller device10, in this case showing the various positions and motions associatedwith joystick handle 12. A first position for joystick handle (neutralposition) 12 n may be characterized as the resting, non-active positionof the basic joystick controller. A second position for joystick handle(fully activated position) 12 f is shown whereby the joystick handle ismoved (by hand) to a full rotated or maximum tilted position in onespecific direction from its neutral position. Motion arrow 24 in FIG. 2represents the joystick motion as may be directed by hand, i.e., towardsa fully activated position 12 f or back to a neutral position 12 n.Motion arrow 26 represents a biased motion typically associated withsuch joystick controllers whereby the joystick is biased to return tothe neutral position 12 n when the force of the hand manipulation isreleased or relaxed. Further details on these alternate manners ofreturning the joystick to a neutral position are provided below.

FIGS. 3-6 provide a graphic description of the manner in which the priorart joystick controllers and the joystick controller of the presentinvention operate during use. FIG. 3 represents the basic functionalityassociated with a joystick controller in the prior art. As timeprogresses (on the horizontal axis) through an action movement of thejoystick both the motion speed of the hydraulic system under control isshown (solid line) and the joystick position itself is shown (dashedline). Starting from a neutral position, the joystick is moved to a fullforward position at which point it is held for a period of time beforeit is fully released. The responsive action of the hydraulic system isshown in FIG. 3 by a solid line. Once the joystick is manipulated to aforward full position, the action of the hydraulic system increases inspeed rapidly to a maximum speed that is held for the duration of thejoystick being held in a full forward position. Once the full forwardposition is released and the joystick position returns to neutral(generally in an abrupt manner as the joystick is neutral biased with aspring or other mechanism to immediately return to the neutral position)the motion speed of the hydraulic system, rather than being abruptlydropped to zero, gradually decreases on a sustained slope back to zeroso as to prevent the abrupt motion of the subject being moved.

FIG. 4 represents the functionality of a joystick controller of thepresent invention implementing a first functional feature of the systemand method of the present invention and is shown to distinguish thesystem of the present invention from the prior art. In FIG. 4 the sameforward full motion of the joystick initiates a rapid increase in motionspeed (solid line) of the controlled hydraulic system. As the joystickposition is held in the full forward position the motion speed reaches amaximum and is maintained for the duration of the joystick being held inthe full forward position. Once the joystick is released from the fullforward position, however, rather than a sudden drop back to a neutralposition, the joystick is gradually brought back to its neutral positionat a rate commensurate with the rate at which the hydraulic systemitself is reduced in speed back to zero. In other words, rather than thejoystick providing no indication and no feedback as to the operationalfunctionality of the hydraulic system (as in the prior art), thejoystick now provides some indication and some tactile response to theoperator, as to the manner in which the release of the joystickgradually reduces the operational motion speed of the hydraulic system.This operational methodology provides a number of advantages over theprior art that are described in more detail below.

The first functionality of the system of the present invention shown inFIG. 4 is operable whether the user simply releases the joystick from afull forward position or attempts to direct the joystick back to theneutral position. The mechanism associated with the joystick (asdescribed in detail below) provides a resistance to the return toneutral motion to a degree that mimics the rate at which the hydraulicsystem itself reduces and terminates the motion of the vehiclecomponent. This tactile feedback gives the user a more accurate sense ofnot only the direction of motion but also the rate at which that motionis increasing or decreasing.

Reference is now made to FIG. 5 for a detailed description of a secondfunctionality associated with the systems and methods of the presentinvention. FIG. 5 discloses a manner in which the joystick position ismanipulated by hand from a full forward, to a hold forward position, andfinally to a forced neutral position. Whereas FIG. 4 showed a release ora directed motion of the joystick by the operator in a manner thatallows or directs the joystick (and the hydraulic system) to return toits neutral or no motion position over a controlled period of time. Insome instances it may be desirable to provide a more rapid response byallowing the joystick to be immediately directed to the neutral positionand to thereby terminate the motion of the vehicle component as quicklyas the hydraulic system will allow. FIG. 5 represents an action methodwhereby the operator may force the joystick back to a neutral position(without simply releasing it) and not be met with the resistive force ofthe first functionality of the system described above. In this instance,rather than allowing the hydraulic system to gradually decrease itsmotion speed down to the point of zero motion or a stop condition, theforced neutral action on the joystick position creates an abrupt, ornearly abrupt, decline in the motion speed of the hydraulic system suchthat the previously moving component of the system arrives at a veryabrupt, or nearly abrupt, stopped condition under the control of theoperator handling the joystick. Any number of environments andoperational vehicles might require such an action from the joystickcontroller. The present invention anticipates this second functionalityto be an optional addition to the first functionality associated withthe actions described above with FIG. 4. In other words, the system may,as described in more detail below, provide the option of allowing aforced neutral joystick position to direct the abrupt stoppage of thehydraulic system, or to carry out the gradual decline in the motionspeed of the hydraulic system as described in FIGS. 3 and 4.

Override.

Reference is now made to FIG. 6 which describes the utilization of auser controlled switch that allows for an instantaneous change from thefirst functionality described above with FIG. 4 to the secondfunctionality described with FIG. 5. With the system defaulting to thefirst functionality (resistance to a return to neutral) the operator mayinitially draw the joystick back to neutral and receive the tactilefeedback that indicates the gradual reduction in the previously directedmotion. If such a reduction in motion is sufficient and safe, the usermay choose to continue with this functionality through to the neutralposition. If, however, the user determines that such a gradual reductionin the motion of the vehicle component is not sufficient or is not safe,then either (a) an override switch may be activated to override thefirst functionality and abruptly stop the movement, or (b) the joystickcan be forced to its neutral position to achieve a second functionality(that of FIG. 5) so as to allow a more immediate return to neutral andthereby, a more immediate reduction or stoppage of the motion directedby the hydraulic system. The user activated switch may preferably bepositioned on the end of the joystick where the user may quicklyactivate it without removing their hand from the control.

Reference is now made to FIG. 7 for a detailed but generic descriptionof the basic components of the system of the present invention requiredfor carrying out the inventive methodology. Joystick 10 in the presentinvention is generally associated with a joystick position sensor 30 anda joystick neutral return controller 32. Position sensor 30 essentiallyidentifies the manipulated positioning of joystick 10 through thevarious two axis coordinates mentioned above. In a similar manner,joystick neutral return controller 32 operates to direct the position ofjoystick 10 through the same two axis motions. Optional override switch11 is shown as it would be positioned in association with joystick 10,although equivalent functionality is achievable when the operatorreleases the powered mover's safety switch (typically in the form of afoot pedal or grip button that has to be pressed in order for any of theactuators to be engaged).

Both joystick position sensor 30 and joystick neutral return controller32 are associated with microprocessor/controller 34. Joystick positioninformation is provided to microprocessor/controller 34 and serves asthe basis for directing the motion of the various hydraulic systemcontrollers associated with the subject under control. Joystick neutralreturn controller 32 receives control signals frommicroprocessor/controller 34 and directs the actual automatedpositioning of joystick 10 as a result. Optional override switch 11 islikewise electrically connected to microprocessor/controller 34 suchthat activation of the switch will terminate the resistive feedbackforce that joystick neutral return controller 32 would normally provide.

In this component arrangement to the joystick controller, each of themotions and control actions described above with FIGS. 4, 5 and 6 can beimplemented. Microprocessor/controller 34 directs the control ofmultiple hydraulic system controllers (36, 38, and 40), each of which isassociated with one or more hydraulic cylinders or drives that directthe motion (direction and speed) of various components on the subjectunder control. Hydraulic system controller 36, as an example, mayprovide the standard hydraulic cylinder directed extension or retractionof the boom in a telescoping boom lift vehicle. Hydraulic systemcontroller 38, as an example, may provide the left and right swingmotion associated with the platform of a typical telescoping boom liftvehicle. Hydraulic system controller 40, as a further example, mayprovide a separate tilt mechanism associated with the elevated platform,one that is not typically combined into the two-axis joystick controllermentioned above, but may simply be a single axis bi-directional controlmechanism.

Overall Control System.

FIG. 8 provides an example of a typical vehicle that might utilize oneor more of the joystick controller systems of the present invention.FIG. 8 provides a side view of a typical telescoping boom lift vehicleof the type that is utilized in many different construction projects aswell as maintenance and utility work. A typical boom lift truck 50 isconfigured with a wheeled boom lift base 52. Positioned on wheeled boomlift base 52 is rotating base support 54. Positioned on and extendingfrom rotating base support 54 is main boom 56. Configured within mainboom 56 is telescoping boom 58. Positioned and attached to telescopingboom 58 is boom lift platform 60. The user/operator of boom lift truck50 may control the motions of the subject from platform 60 or from theground in association with boom lift base 52. In either case, there arefour basic motions associated with boom lift truck 50 that may becontrolled by way of the multi-directional joystick controllers of thepresent invention. A first such multi-directional joystick controllermay provide the necessary integrated controls for lift motion (shown inassociation with platform 60 in FIG. 8) and swing motion (shown inassociation with main boom 56 in FIG. 8). As described above in theexamples associated with the telescoping motion of a boom lift truck, asingle joystick controller of the present invention may allow theoperator (again, either on the ground or in boom lift platform 60) tosimultaneously direct the lifting motion and the swing motion. In someembodiments, the lift motion may actually be a controlled combination ofthe extension/retraction of telescoping boom 58 and the raising/loweringof main boom 56.

A second joystick controller of the present invention may combine themotion elements associated with the actual translational movement of theboom lift truck 50 across a driving surface and would involve a drivemotion and a steering motion that would include forward and reverse, aswell as left and right steering (each as shown in connection with boomlift base 52 in FIG. 8). Various additional motions of the basic vehicleunder control may be anticipated through additional uses of the joystickcontroller of the present invention.

Return of Joystick to Neutral Position.

Reference is now made to FIGS. 9 and 10 for a detailed description of afirst example of a manner of implementing the joystick neutral returncontroller 32 mentioned generically above. FIGS. 9 and 10 show the useof a combined spring bias and linear actuator or passive dampener systemthat both senses the position of the joystick controller and directs itsposition by means of position control signals from the microprocessor.The objective of the system shown is to allow manipulated movement ofthe joystick and at the same time direct its movement when themanipulation force is released or reduced. In other words, the systemmust accommodate free motion of the joystick by the operator/user andyet still direct the motion when no overriding force is experienced fromthe manipulation by the operator. The solution to this combinedfunctionality involves both spring biased mechanisms and free motionlinear actuator mechanisms positioned in association with the dual axisstructure of the joystick motion control. A separate joystick positionsensing device is also shown and described in FIGS. 9 and 10.

Override.

Referring to FIG. 9, joystick 10 is shown to have a joystick pivotcenter 70. Override switch 11 is shown as it would preferably bepositioned at the apex of the joystick where the operator may easilyaccess it without releasing the joystick. Joystick control shaft 72extends below the working surface of the control panel associated withthe device implementing the system. On joystick control shaft 72 ispositioned control ring 74, seen best in FIG. 10. Attached to joystickcontrol shaft 72 and positioned below it in the structure shown in FIGS.9 and 10 is joystick base moving surface 76 which provides a primaryfunctional component of the joystick position sensor system 30. Positionsensor base 78 and motion sensor 80 provide the balance of the basiccomponents associated with the joystick position sensor 30.

Joystick Speed Control.

The joystick position control or neutral return controller 32 includes,as mentioned above, motion dampeners (tension springs and/orflow-limited pistons) 82 a-82 d. Further included in the returncontroller system 32 are actuators and/or dampeners (gear rails, in theexample given) 84 a-84 d. These linear actuators 84 a-84 d are driven byactuator drivers (rotary electric motors in the example given) 86 a-86d. Actuator drivers 86 a-86 d are connected to the actuators 84 a-84 dby actuator connectors 88 a-88 d. In the preferred embodiment, actuatorconnectors 88 a-88 d are engagement gears positioned on the drive shaftsof the motors and engaging the gear rails.

The system shown in FIG. 9, a side view, is limited to two of the fourlinear actuator systems of the invention for clarity. In this view, oneof the two motors 86 a and 86 b is shown in a manner that showsengagement gear 88 b which is hidden in the second system. FIG. 10 onthe other hand, which is a top view through the control panel of thesystem implementing the joystick controller, discloses each of the fourlinear actuators generally positioned at opposite ends of the two motionaxes of the joystick controller. In this manner, the joystick controllerallows the operator to manipulate the joystick in the same 360° radialmotion as described above and likewise allows themicroprocessor/controller based system to automatically andindependently manipulate the position of the joystick according to thefunctionality described by the present invention.

In addition to directing the motion of the joystick (when for examplethe user releases the control) the system of linear actuators alsoserves to provide the tactile feedback of the functionality of thepresent invention, by resisting the sudden or overly rapid movement ofthe joystick by the user. In other words, the linear actuatorspreference the joystick to a position (not just the neutral position) ina manner that resists the user's effort to more rapidly reposition thejoystick (and thereby more rapidly change the motion of the vehiclecomponent). This resistive functionality will remain in place unless anduntil the override switch cancels such functionality. Depending on thetype of joystick actuators and/or dampeners used, this override maysimply allow the drive motors (as an example) to rotate freely.

Alternative Components.

It should be understood that, even though the present inventions havebeen described in the context of certain types of controls with certaintypes of components, many aspects of the inventions can be appreciatedwith a wide variety of other types of controls and other types ofcomponents so long as the structure, functionality or purpose that isexpressly claimed is still achieved either literally or in an equivalentbut different manner. For instance, there are countless types ofjoystick position controls, or even more other types of lever-based orknob-based variable speed controls. Moreover, as indicated previously,some of the basic functionality of the present invention can beimplemented with the quad-directional type joystick controller of thetype discussed above (FIGS. 9 & 10) or with a bi-directional togglelever controllers of the type associated with other independent motionson many types of hydraulic equipment.

As well, many of the components of the illustrated embodiments can besubstituted with equivalents, even if they are expressly required byclaims defining the inventions of this or related applications. Motiondampeners, for instance, can be achieved electronically rather thanmechanically, and pneumatic or other fluid-based dampeners may besubstituted for spring-like dampeners. Certainly, it will be wellappreciated that there are a vast number of different types of linearactuators and drivers other than mechanical gear rails andmotors—solenoids, fluid-driven pistons, rocker-and-pawl assemblies, andscrew-actuators just to name a few—while even radial or other non-linearactuators might achieve equivalent functions and purposes depending onthe scope of the claims.

Various alternate types of linear actuators for controlling the positionand resistive force of the joystick are anticipated. These could includein-line (co-axial) linear shaft actuators coupled to motors;micro-hydraulic two-way linear motion cylinders and pumps; andmicro-pneumatic two-way linear motion cylinders and pumps. Variousalternate devices for tracking the position of the joystick are alsoanticipated. In addition to the position sensor device described above,optically tracked micro-gears connected to the joystick may likewiseprovide the microprocessor/controller of the present invention with theaccurate position information needed to effect the functionality of thesystem. Those skilled in the art will recognize other devices known toprovide accurate controlled motion or to provide accurate positioninformation, along the lines described above.

Control Panel.

FIG. 11 provides an example of a typical instrument control panel for aboom lift vehicle of the type shown in FIG. 8. On this control panel 90,two separate quad-directional joystick controllers 92 & 94 are shown,the first joystick 92 handling the “Lift & Swing” motions and the secondjoystick 94 handling the “Drive & Steer” motions of the vehicle.

Elsewhere on the control panel 90 are a number of independent hydrauliccontrol switches structured as simple bi-directional lever controllers.Typical of these types of control levers is “Tower Telescope” controllever 96. The basic functionality of the present invention could easilybe applied to such bi-directional lever controls. Both the free-releaseneutral return mode and the forced neutral return mode may beimplemented with these more simple configurations. In either mode, therate at which motion speed of a moving component changes can be (andtypically is) modified by a centralized speed control knob 98. In thepresent invention, the speed control 98 would still regulate the rate atwhich the motion of the vehicle component increases (or decreases) asthe joystick is moved. That is, a very rapid movement of the joystick toa full forward position could direct a very rapid movement of thehydraulic component (a steep initial slope to the solid line in FIGS. 3& 4) or, if the speed control is set lower, a more gradual increase inthe motion of the component (a less steep initial slope in FIGS. 3 & 4).

Overall System and Method Alternatives.

It should also be understood that, rather than limiting the invention toboom lift platforms, alternative embodiments of broader aspects of theinvention are adapted for use with any other object the position orspeed of which are controlled with a remote control or some form oflever-based or knob-based electronic control. As examples that will beunderstood by those of skill in the art, even though the preferredembodiments relate to control systems and methods for boom liftplatforms, various aspects of the present invention will also findutility in alternative embodiments in backhoes, skid-steer loaders, forklifts and other off-highway construction vehicles. Indeed, some aspectsmay be used in virtually any system for controlling the position and/orspeed of any subject, whether the subject is an aerial platform as inillustrated embodiments, or whether the controlled subject is some otherobject or even a flow of fluids that can be controlled using alever-based or knob-based speed/position control with some form ofproportional control.

Those of skill in the art will also understand that proportionalcontrols may include controls where speed is continuously proportionalto the relative position of the lever or knob, as well as controls whereonly two or three speeds are available and yet the speeds are related todiscreet steps in movement of the lever away from a neutral position.For ease of reference for these purposes, while it should be recognizedthat knobs can be the equivalent of levers because force from the edgeof the knob creates a moment about the center of the knob like a leverabout its fulcrum, use of the terms “lever,” “lever-based” features orthe like should be interpreted to encompass knobs and knob-basedfeatures unless expressly stated or clearly intended otherwise.

Those of skill in the art will also understand that aspects of theinvention may involve or be used with actuators of other types otherthan hydraulic actuators. So, even though some aspects of the inventionprovide exceptional benefits with hydraulic actuators, actuators mayalso be electric, pneumatic, electro-magnetic, or some combination ofthe various different types of known actuators. Use of the term“actuator” or the like should therefore be interpreted to encompass anytype of actuator unless expressly stated or clearly intended otherwise.

Still other embodiments of the invention relate to application-specificmachines that incorporate controls according to the teachings reflectedherein, as well as subsystems, macrosystems or methods for performingall or part of the processes described or inferred herein. While thereare many variations within the scope of the invention, one of ordinaryskill in the art should consider the scope of the invention from areview of the claims appended hereto (including any amendments made tothose claims in the course of prosecuting this and related applications)as considered in the context of the prior art and the variousdescriptions of this application.

Numerous variations, substitutions, modifications and simplificationswill still fall within the scope of the inventions that are the subjectof this application. Many other features, benefits and advantages of theinventions related to the embodiments referenced herein will be evidentto those of skill in the art in light of an exhaustive review of theprior art.

Even though the foregoing embodiments represent the most preferred atpresent, those of ordinary skill in the art will recognize many possiblealternatives that we have not expressly suggested here. While theforegoing written descriptions enable one of ordinary skill to make anduse what is considered presently to be best modes of the invention,those of ordinary skill will understand and appreciate the existence ofvariations, combinations, and equivalents of the specific embodiment,method, and examples herein. It should be understood that the drawingsand detailed descriptions herein are to be regarded in an illustrativerather than a restrictive manner, and are not intended to limit theinvention to the particular forms and examples disclosed. To thecontrary, the invention includes any further modifications, changes,rearrangements, substitutions, alternatives, design choices, andembodiments apparent to those of ordinary skill in the art, withoutdeparting from the spirit and scope of this invention, as defined by anyclaims included herewith or later added or amended in an applicationclaiming priority to this present filing. The invention covers allembodiments within the scope and spirit of such claims, irrespective ofwhether such embodiments have been remotely referenced here or whetherall features of such embodiments are known at the time of this filing.Thus, it is intended that the claims be interpreted to embrace allfurther modifications, changes, rearrangements, substitutions,alternatives, design choices, and embodiments that may be evident tothose of skill in the art. In any case, all substantially equivalentsystems, articles and methods should be considered within the scope ofthe present invention.

I claim:
 1. A boom lift platform mounted on a vehicle, said platform having a speed control system for controlling the movement of the vehicle and the movement of the platform relative to the vehicle, said speed control system comprising: a. a joystick having a handle, for manually controlling speed of the platform relative to the vehicle; b. a speed sensor for generating a signal that is indicative of an actual speed of the platform relative to the vehicle; c. controls and circuitry adapted to effect a null velocity when the handle is positioned in a neutral position, a first velocity when the handle is moved to a first extent in a first direction from said neutral position, and a second velocity when the handle is moved to a second extent in the same first direction from said neutral position, the second extent being greater than the first extent, and the second velocity being greater than the first velocity; d. said controls and circuitry being further adapted to receive said signal; e. a positional bias associated with the handle of said joystick to bias the position of said handle toward the neutral position when released from the second position; and f. a motorized handle position controller that influences the position of the handle in relation to said signal, said handle position controller being adapted to influence the handle to be closer to the first position than the neutral position if the velocity of the subject is closer to the first velocity than a null velocity, thereby influencing the position of the handle to provide tactile feedback to an operator who is manually holding said handle, the tactile feedback being indicative of the actual speed of the platform relative to the vehicle.
 2. A boom lift platform system, comprising: a. a base; b. a boom lift platform; c. an actuator operatively connected between said base and said boom lift platform for actuating a movement of said boom lift platform relative to said base; d. a joystick having a handle, for manually controlling speed of said boom lift platform relative to said base; e. a speed sensor for generating a signal that is indicative of an actual speed of said boom lift platform relative to the said base; f. controls and circuitry adapted to effect a null velocity when the handle is positioned in a neutral position, a first velocity when the handle is moved to a first extent in a first direction from said neutral position, and a second velocity when the handle is moved to a second extent in the same first direction from said neutral position, the second extent being greater than the first extent, and the second velocity being greater than the first velocity; g. said controls and circuitry being further adapted to receive said signal; h. a positional bias associated with the handle of said joystick to bias the position of said handle toward the neutral position when released from the second position; and i. a motorized handle position controller that influences the position of the handle in relation to said signal, said handle position controller being adapted to influence the handle to be closer to the first position than the neutral position if the velocity of the subject is closer to the first velocity than a null velocity, thereby influencing the position of the handle to provide tactile feedback to an operator who is manually holding said handle, the tactile feedback being indicative of the actual speed of said boom lift platform relative to the said base.
 3. The boom lift platform system of claim 2, wherein said joystick is positioned on said boom lift platform such that said joystick is manually operable by a user in said boom lift platform. 